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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::SampleConsensusModelCone&lt; PointT, PointNT &gt;::OptimizationFunctor结构体 参考</div>  </div>
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<p><a class="el" href="structpcl_1_1_functor.html">Functor</a> for the optimization function  
 <a href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#details">更多...</a></p>
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类 pcl::SampleConsensusModelCone&lt; PointT, PointNT &gt;::OptimizationFunctor 继承关系图:</div>
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 <div class="center">
  <img src="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.png" usemap="#pcl::SampleConsensusModelCone_3C_20PointT_2C_20PointNT_20_3E::OptimizationFunctor_map" alt=""/>
  <map id="pcl::SampleConsensusModelCone_3C_20PointT_2C_20PointNT_20_3E::OptimizationFunctor_map" name="pcl::SampleConsensusModelCone_3C_20PointT_2C_20PointNT_20_3E::OptimizationFunctor_map">
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a399c057f905bf49842e6678813fd4dc1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a399c057f905bf49842e6678813fd4dc1">OptimizationFunctor</a> (int m_data_points, <a class="el" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt; *model)</td></tr>
<tr class="separator:a399c057f905bf49842e6678813fd4dc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a786d17a16d7b17e6bc53fe500b57ba5e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_sample_consensus_model_cone_1_1_optimization_functor.html#a786d17a16d7b17e6bc53fe500b57ba5e">operator()</a> (const Eigen::VectorXf &amp;x, Eigen::VectorXf &amp;fvec) const</td></tr>
<tr class="separator:a786d17a16d7b17e6bc53fe500b57ba5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_structpcl_1_1_functor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structpcl_1_1_functor')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="structpcl_1_1_functor.html">pcl::Functor&lt; float &gt;</a></td></tr>
<tr class="memitem:a4f39342d10edc4a4b1350f05975ffe96 inherit pub_methods_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a4f39342d10edc4a4b1350f05975ffe96"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_functor.html#a4f39342d10edc4a4b1350f05975ffe96">Functor</a> ()</td></tr>
<tr class="memdesc:a4f39342d10edc4a4b1350f05975ffe96 inherit pub_methods_structpcl_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty Constructor. <br /></td></tr>
<tr class="separator:a4f39342d10edc4a4b1350f05975ffe96 inherit pub_methods_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1f003cb9e37f3535a9032797c88195b inherit pub_methods_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_functor.html#ac1f003cb9e37f3535a9032797c88195b">Functor</a> (int m_data_points)</td></tr>
<tr class="memdesc:ac1f003cb9e37f3535a9032797c88195b inherit pub_methods_structpcl_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="structpcl_1_1_functor.html#ac1f003cb9e37f3535a9032797c88195b">更多...</a><br /></td></tr>
<tr class="separator:ac1f003cb9e37f3535a9032797c88195b inherit pub_methods_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f516c3ee42e37ab575b0231e0e93547 inherit pub_methods_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a3f516c3ee42e37ab575b0231e0e93547"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">values</a> () const</td></tr>
<tr class="memdesc:a3f516c3ee42e37ab575b0231e0e93547 inherit pub_methods_structpcl_1_1_functor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of values. <br /></td></tr>
<tr class="separator:a3f516c3ee42e37ab575b0231e0e93547 inherit pub_methods_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a3fb52c5d44e2b116ba1608507181d550"><td class="memItemLeft" align="right" valign="top"><a id="a3fb52c5d44e2b116ba1608507181d550"></a>
<a class="el" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt; *&#160;</td><td class="memItemRight" valign="bottom"><b>model_</b></td></tr>
<tr class="separator:a3fb52c5d44e2b116ba1608507181d550"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
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额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_structpcl_1_1_functor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structpcl_1_1_functor')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="structpcl_1_1_functor.html">pcl::Functor&lt; float &gt;</a></td></tr>
<tr class="memitem:a74c828d256e521cd11fc00d92a7a8761 inherit pub_types_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a74c828d256e521cd11fc00d92a7a8761"></a>enum &#160;</td><td class="memItemRight" valign="bottom"></td></tr>
<tr class="separator:a74c828d256e521cd11fc00d92a7a8761 inherit pub_types_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add698f6d95153b5662d1087055705803 inherit pub_types_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="add698f6d95153b5662d1087055705803"></a>
typedef float&#160;</td><td class="memItemRight" valign="bottom"><b>Scalar</b></td></tr>
<tr class="separator:add698f6d95153b5662d1087055705803 inherit pub_types_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6708475c2a0d1337f64c29d6fda35a4c inherit pub_types_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a6708475c2a0d1337f64c29d6fda35a4c"></a>
typedef Eigen::Matrix&lt; Scalar, ValuesAtCompileTime, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ValueType</b></td></tr>
<tr class="separator:a6708475c2a0d1337f64c29d6fda35a4c inherit pub_types_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a22d05b91137a95fa7b478977c225e9b0 inherit pub_types_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="a22d05b91137a95fa7b478977c225e9b0"></a>
typedef Eigen::Matrix&lt; Scalar, InputsAtCompileTime, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>InputType</b></td></tr>
<tr class="separator:a22d05b91137a95fa7b478977c225e9b0 inherit pub_types_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc21649dfdb3142c8a7a77b5aebce5cc inherit pub_types_structpcl_1_1_functor"><td class="memItemLeft" align="right" valign="top"><a id="abc21649dfdb3142c8a7a77b5aebce5cc"></a>
typedef Eigen::Matrix&lt; Scalar, ValuesAtCompileTime, InputsAtCompileTime &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>JacobianType</b></td></tr>
<tr class="separator:abc21649dfdb3142c8a7a77b5aebce5cc inherit pub_types_structpcl_1_1_functor"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename PointNT&gt;<br />
struct pcl::SampleConsensusModelCone&lt; PointT, PointNT &gt;::OptimizationFunctor</h3>

<p><a class="el" href="structpcl_1_1_functor.html">Functor</a> for the optimization function </p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a399c057f905bf49842e6678813fd4dc1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a399c057f905bf49842e6678813fd4dc1">&#9670;&nbsp;</a></span>OptimizationFunctor()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::OptimizationFunctor::OptimizationFunctor </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>m_data_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt; *&#160;</td>
          <td class="paramname"><em>model</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p><a class="el" href="structpcl_1_1_functor.html">Functor</a> constructor </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">m_data_points</td><td>the number of data points to evaluate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">estimator</td><td>pointer to the estimator object </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">distance</td><td>distance computation function pointer </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                                                                                     : </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          <a class="code" href="structpcl_1_1_functor.html">pcl::Functor&lt;float&gt;</a> (m_data_points), model_ (model) {}</div>
<div class="ttc" id="astructpcl_1_1_functor_html"><div class="ttname"><a href="structpcl_1_1_functor.html">pcl::Functor&lt; float &gt;</a></div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a786d17a16d7b17e6bc53fe500b57ba5e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a786d17a16d7b17e6bc53fe500b57ba5e">&#9670;&nbsp;</a></span>operator()()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_sample_consensus_model_cone.html">pcl::SampleConsensusModelCone</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::OptimizationFunctor::operator() </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>fvec</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Cost function to be minimized </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>variables array </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">fvec</td><td>resultant functions evaluations </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0 </dd></dl>
<div class="fragment"><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          Eigen::Vector4f apex  (x[0], x[1], x[2], 0);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          Eigen::Vector4f axis_dir (x[3], x[4], x[5], 0);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordtype">float</span> opening_angle = x[6];</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keywordtype">float</span> apexdotdir = apex.dot (axis_dir);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          <span class="keywordtype">float</span> dirdotdir = 1.0f / axis_dir.dot (axis_dir);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">values</a> (); ++i)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            <span class="comment">// dist = f - r</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;            Eigen::Vector4f pt (model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].x,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].y,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                model_-&gt;input_-&gt;points[(*model_-&gt;tmp_inliers_)[i]].z, 0);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;            <span class="comment">// Calculate the point&#39;s projection on the cone axis</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            <span class="keywordtype">float</span> k = (pt.dot (axis_dir) - apexdotdir) * dirdotdir;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            Eigen::Vector4f pt_proj = apex + k * axis_dir;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            <span class="comment">// Calculate the actual radius of the cone at the level of the projected point</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;            Eigen::Vector4f height = apex-pt_proj;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="keywordtype">float</span> actual_cone_radius = tanf (opening_angle) * height.norm ();</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            fvec[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a> (pt, apex, axis_dir) - actual_cone_radius * actual_cone_radius);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          }</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        }</div>
<div class="ttc" id="agroup__common_html_gad9217ecd4cc14221f178af07a16ef75d"><div class="ttname"><a href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a></div><div class="ttdeci">double sqrPointToLineDistance(const Eigen::Vector4f &amp;pt, const Eigen::Vector4f &amp;line_pt, const Eigen::Vector4f &amp;line_dir)</div><div class="ttdoc">Get the square distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> distances.h:69</div></div>
<div class="ttc" id="astructpcl_1_1_functor_html_a3f516c3ee42e37ab575b0231e0e93547"><div class="ttname"><a href="structpcl_1_1_functor.html#a3f516c3ee42e37ab575b0231e0e93547">pcl::Functor&lt; float &gt;::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> sac_model.h:678</div></div>
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